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<p>When multiple poses (see <a class="el" href="../../d5/d22/classcv_1_1ppf__match__3d_1_1Pose3D.html" title="Class, allowing the storage of a pose. The data structure stores both the quaternions and the matrix ...">Pose3D</a>) are grouped together (contribute to the same transformation) pose clusters occur. This class is a general container for such groups of poses. It is possible to store, load and perform IO on these poses.  
 <a href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#details">More...</a></p>

<p><code>#include &lt;opencv2/surface_matching/pose_3d.hpp&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a404b98cb537684789cd9b5a06d554087"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#a404b98cb537684789cd9b5a06d554087">PoseCluster3D</a> ()</td></tr>
<tr class="separator:a404b98cb537684789cd9b5a06d554087"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0a5fd1b66f5c16a51d9afedf32fbac83"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#a0a5fd1b66f5c16a51d9afedf32fbac83">PoseCluster3D</a> (<a class="el" href="../../d9/d25/group__surface__matching.html#gaace349a5dbee5aa24dd68d8f57518902">Pose3DPtr</a> newPose)</td></tr>
<tr class="separator:a0a5fd1b66f5c16a51d9afedf32fbac83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1bb2cca75814df5badae55fffdc601d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#ae1bb2cca75814df5badae55fffdc601d">PoseCluster3D</a> (<a class="el" href="../../d9/d25/group__surface__matching.html#gaace349a5dbee5aa24dd68d8f57518902">Pose3DPtr</a> newPose, int newId)</td></tr>
<tr class="separator:ae1bb2cca75814df5badae55fffdc601d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9c8d7295ecbd644473f3c806d33e55c"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#ab9c8d7295ecbd644473f3c806d33e55c">~PoseCluster3D</a> ()</td></tr>
<tr class="separator:ab9c8d7295ecbd644473f3c806d33e55c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8926142dbba868d9572102ee72c24e29"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#a8926142dbba868d9572102ee72c24e29">addPose</a> (<a class="el" href="../../d9/d25/group__surface__matching.html#gaace349a5dbee5aa24dd68d8f57518902">Pose3DPtr</a> newPose)</td></tr>
<tr class="memdesc:a8926142dbba868d9572102ee72c24e29"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a new pose to the cluster. The pose should be "close" to the mean poses in order to preserve the consistency.  <a href="#a8926142dbba868d9572102ee72c24e29">More...</a><br /></td></tr>
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<tr class="memitem:a096fbcd0d267046e291c1519c96a30f8"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#a096fbcd0d267046e291c1519c96a30f8">readPoseCluster</a> (FILE *f)</td></tr>
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<tr class="memitem:aeb6137231fb62e3e3db11c17b5f720b9"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#aeb6137231fb62e3e3db11c17b5f720b9">readPoseCluster</a> (const std::string &amp;FileName)</td></tr>
<tr class="separator:aeb6137231fb62e3e3db11c17b5f720b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a022b8e9e02a92a5303690ca8cc001acd"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#a022b8e9e02a92a5303690ca8cc001acd">writePoseCluster</a> (FILE *f)</td></tr>
<tr class="separator:a022b8e9e02a92a5303690ca8cc001acd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7557d1bb33423b90f9bbf7e2be47aece"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#a7557d1bb33423b90f9bbf7e2be47aece">writePoseCluster</a> (const std::string &amp;FileName)</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a9389b8110d67b6f6744689f8541dd328"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#a9389b8110d67b6f6744689f8541dd328">id</a></td></tr>
<tr class="separator:a9389b8110d67b6f6744689f8541dd328"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2708187fcdf45ae3ff3df2d54c3f48a"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#ac2708187fcdf45ae3ff3df2d54c3f48a">numVotes</a></td></tr>
<tr class="separator:ac2708187fcdf45ae3ff3df2d54c3f48a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84383c0098dac446b5ef9338a2c294ba"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="../../d9/d25/group__surface__matching.html#gaace349a5dbee5aa24dd68d8f57518902">Pose3DPtr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d4b/classcv_1_1ppf__match__3d_1_1PoseCluster3D.html#a84383c0098dac446b5ef9338a2c294ba">poseList</a></td></tr>
<tr class="separator:a84383c0098dac446b5ef9338a2c294ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>When multiple poses (see <a class="el" href="../../d5/d22/classcv_1_1ppf__match__3d_1_1Pose3D.html" title="Class, allowing the storage of a pose. The data structure stores both the quaternions and the matrix ...">Pose3D</a>) are grouped together (contribute to the same transformation) pose clusters occur. This class is a general container for such groups of poses. It is possible to store, load and perform IO on these poses. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a404b98cb537684789cd9b5a06d554087"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a404b98cb537684789cd9b5a06d554087">&#9670;&nbsp;</a></span>PoseCluster3D() <span class="overload">[1/3]</span></h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a0a5fd1b66f5c16a51d9afedf32fbac83">&#9670;&nbsp;</a></span>PoseCluster3D() <span class="overload">[2/3]</span></h2>

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          <td>(</td>
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          <td class="paramname"><em>newPose</em></td><td>)</td>
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<h2 class="memtitle"><span class="permalink"><a href="#ae1bb2cca75814df5badae55fffdc601d">&#9670;&nbsp;</a></span>PoseCluster3D() <span class="overload">[3/3]</span></h2>

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          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d9/d25/group__surface__matching.html#gaace349a5dbee5aa24dd68d8f57518902">Pose3DPtr</a>&#160;</td>
          <td class="paramname"><em>newPose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>newId</em>&#160;</td>
        </tr>
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<h2 class="memtitle"><span class="permalink"><a href="#ab9c8d7295ecbd644473f3c806d33e55c">&#9670;&nbsp;</a></span>~PoseCluster3D()</h2>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a8926142dbba868d9572102ee72c24e29">&#9670;&nbsp;</a></span>addPose()</h2>

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          <td class="memname">void cv::ppf_match_3d::PoseCluster3D::addPose </td>
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          <td class="paramtype"><a class="el" href="../../d9/d25/group__surface__matching.html#gaace349a5dbee5aa24dd68d8f57518902">Pose3DPtr</a>&#160;</td>
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<p>Adds a new pose to the cluster. The pose should be "close" to the mean poses in order to preserve the consistency. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">newPose</td><td>Pose to add to the cluster </td></tr>
  </table>
  </dd>
</dl>

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<a id="a096fbcd0d267046e291c1519c96a30f8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a096fbcd0d267046e291c1519c96a30f8">&#9670;&nbsp;</a></span>readPoseCluster() <span class="overload">[1/2]</span></h2>

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<h2 class="memtitle"><span class="permalink"><a href="#aeb6137231fb62e3e3db11c17b5f720b9">&#9670;&nbsp;</a></span>readPoseCluster() <span class="overload">[2/2]</span></h2>

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          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>FileName</em></td><td>)</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a022b8e9e02a92a5303690ca8cc001acd">&#9670;&nbsp;</a></span>writePoseCluster() <span class="overload">[1/2]</span></h2>

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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname">int cv::ppf_match_3d::PoseCluster3D::id</td>
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<h2 class="memtitle"><span class="permalink"><a href="#ac2708187fcdf45ae3ff3df2d54c3f48a">&#9670;&nbsp;</a></span>numVotes</h2>

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          <td class="memname">size_t cv::ppf_match_3d::PoseCluster3D::numVotes</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a84383c0098dac446b5ef9338a2c294ba">&#9670;&nbsp;</a></span>poseList</h2>

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          <td class="memname">std::vector&lt;<a class="el" href="../../d9/d25/group__surface__matching.html#gaace349a5dbee5aa24dd68d8f57518902">Pose3DPtr</a>&gt; cv::ppf_match_3d::PoseCluster3D::poseList</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/surface_matching/<a class="el" href="../../d8/d9d/pose__3d_8hpp.html">pose_3d.hpp</a></li>
</ul>
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